CN102540192A - Method and device for detecting target object - Google Patents
Method and device for detecting target object Download PDFInfo
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- CN102540192A CN102540192A CN2011103968843A CN201110396884A CN102540192A CN 102540192 A CN102540192 A CN 102540192A CN 2011103968843 A CN2011103968843 A CN 2011103968843A CN 201110396884 A CN201110396884 A CN 201110396884A CN 102540192 A CN102540192 A CN 102540192A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/96—Sonar systems specially adapted for specific applications for locating fish
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/527—Extracting wanted echo signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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Abstract
The invention provides a method and a device for detecting a target object of a single fish with high precision. The underwater detecting device (10) for detection of the single fish comprises a first peak holding module (1611) for extracting, at every predetermined cycle, a maximum value of the reception signals obtained in the predetermined cycle, a second peak holding module (1612) for extracting, at the same predetermined cycle, a minimum value of the reception signals obtained in the predetermined cycle, and a target object determiner (162) for determining a level rising and a level falling of the reception signal indicating the target object by using a gradient between the minimum and maximum values extracted at different peak holding positions.
Description
Technical field
The present invention relates to outwards send direct impulse, and carry out thing mark sniffer and the thing mark detection method that the thing target detects according to returning the reception signal that comes.
Background technology
In the past, known for investigation of carrying out the aquatic resources amount etc. and the metering sound navigation ranging that carries out the measuration of fish body.In this metering sound navigation ranging; Obtaining from probe hyperacoustic sound pressure level of sending and the ratio that is returned the sound pressure level of the echo that comes by the fish reflection is reflection strength TS (Target Strength); Utilize the relation of reflection strength TS and fish length L, the body of calculating fish according to the reflection strength TS that obtains is long.
The measuration of fish body need be discerned and detect the monomer fish and the shoal of fish, and the monomer fish that has for example proposed in the patent documentation 1 to utilize the ultrasound wave with 2 kinds of pulsewidths to send pulse is differentiated the loop.That is, put down in writing in the patent documentation 1 and sent the ultrasound wave with length 2 kinds of pulsewidths successively and send pulse, received signals to two and carry out after the rectangle shaping, the ratio that receives the rectangle width of signals according to two of correspondence takes a decision as to whether the monomer fish.The phenomenon that it utilized is: under the situation of monomer fish; 2 kinds of ratios that receive the rectangle width of signal of length converge on known specialized range; On the other hand; Under the situation of the shoal of fish etc., the rectangle width that receives signal is elongated because of the depth of the shoal of fish on hyperacoustic direct of travel, and ratio is different with the ratio of the situation of monomer fish.
[patent documentation 1] japanese kokai publication hei 5-196733 communique
In patent documentation 1; Owing to use the ultrasound wave of 2 kinds of pulsewidths of length to send pulse, therefore need its corresponding loop structure, in addition; Be equivalent to once survey action because the ultrasound wave of length pulsewidth sends transmission, i.e. twice transmission of pulse, so detection efficiency descends correspondingly.
In addition, knownly extract the method that its rising and decline detect the monomer fish the corresponding reception signal of signal from sending with the single-frequency ultrasound wave.This detection method for example is high-speed sampling and the method that from the signal that sampling obtains, detect to rise and descend to received signal, or the mean value of the reception signal in obtaining between each sampling period with the speed slower than high-speed sampling or extract maximal value and utilize these signals to detect the method that rises and descend.But, because of the huge obstacle that becomes high speed processing of amount of the data of high-speed sampling.In addition, handle or maximal value is handled the data of processing and detected under the situation that rises and descend utilizing through mean value and since the job operation of data and process data utilize method, there is certain limit in the accuracy of detection of monomer fish.
Summary of the invention
The present invention makes in view of the above problems; Its objective is provides a kind of thing mark sniffer and thing mark detection method; For receiving signal; Maximal value and minimum value by in extracting per specified time limit during this period based on the gradient that the difference according to this maximal value and minimum value obtains, can detect thing marks such as monomer fish accurately.
The invention of technical scheme 1 record is a kind of thing mark sniffer, outwards sends direct impulse, according to returning next reception signal; Carry out the thing target and detect, it is characterized in that possessing: the first peak value holding unit; For above-mentioned reception signal, extract the maximal value in this cycle by every specified period; The second peak value holding unit for above-mentioned reception signal, by every afore mentioned rules cycle, extracts the minimum value in this cycle; And thing mark identifying unit, be utilized in the above-mentioned minimum value and the gradient between the above-mentioned maximal value extracted on the mutual different peak value holding position, judge rising and the decline thereof of representing above-mentioned thing target signal.
The invention of technical scheme 7 records is a kind of thing mark detection methods, outwards sends direct impulse, according to returning next reception signal; Carry out the thing target and detect, it is characterized in that, comprising: first peak value keeps step; For above-mentioned reception signal, extract the maximal value in this cycle by every specified period; Second peak value keeps step, for above-mentioned reception signal, by every afore mentioned rules cycle, extracts the minimum value in this cycle; And thing mark determination step, be utilized in the above-mentioned minimum value and the gradient between the above-mentioned maximal value extracted on the mutual different peak value holding position, judge rising and the decline thereof of representing above-mentioned thing target signal.
According to these inventions, if direct impulse is sent by outside,, then receive by this thing and mark reflection and return next signal then as if the thing mark that exists as detected object, carry out the thing target based on this reception signal and judge.That is,, extract the maximal value in this cycle, in addition, extract the minimum value in this cycle equally by every specified period for receiving signal.Then, obtain in mutual different peak value holding position, for example put the minimum value of extraction and the gradient between the maximal value in the position adjacent or the offing normal mutually of several peak values holding position of being separated by.Then, judge whether the gradient of obtaining is the rising and the decline thereof of expression thing target signal.The group that rise and fall became detects and is the thing mark.Like this; In the thing target is judged, adopt unexpected in the past minimum value, and; The judgement of the rising of thing target signal is represented in utilization from this minimum value to peaked difference; Utilization is represented the judgement of the decline of thing target signal from the difference of peak to peak, thereby can be to judge with such equal degree of situation of utilizing the huge reception data that obtained by high-speed sampling to judge in the past, in addition; With the judgement of using the mean value in the cycle that is equivalent to the afore mentioned rules cycle, obtain or use peaked judgement to compare, can access higher judgement precision.
The invention of technical scheme 2 records is; In the thing mark sniffer of technical scheme 1 record; It is characterized in that above-mentioned thing mark identifying unit is calculated above-mentioned gradient according to the minimum value and the maximal value of the peak value holding position of the predefined one or more afore mentioned rules periodic quantities of phase mutual edge distance.According to this structure, utilize minimum value and peaked difference, difference is significantly changed, thereby can be detected rising, the decline of expression thing target signal accurately.
The invention of technical scheme 3 records is; In the thing mark sniffer of technical scheme 1 or 2 records; It is characterized in that; Above-mentioned thing mark identifying unit will be used to obtain the judging and compare with threshold value from minimum value to peaked difference with rising of gradient of above-mentioned rising, surpass above-mentioned rising in above-mentioned difference and judge under the situation with threshold value, be judged to be the rising of representing thing target signal.According to this structure, judge with threshold value to compare to judge whether be to rise with rising, therefore can stablize and detection rising accurately.
The invention of technical scheme 4 records is; In the thing mark sniffer of each record of technical scheme 1～3; It is characterized in that; Above-mentioned thing mark identifying unit will be used to obtain the difference of maximal value and minimum value of the gradient of above-mentioned decline to be judged and compares with threshold value with descending, and surpasses above-mentioned decline in above-mentioned difference and judges under the situation with threshold value, is judged to be the decline of representing thing target signal.According to this structure, judge with threshold value to compare to judge whether be to descend with decline, therefore can stablize and detection decline accurately.
The invention of technical scheme 5 record is, in the thing mark sniffer of each record of technical scheme 1～4, it is characterized in that the detection range of the above-mentioned first peak value holding unit, the second peak value holding unit and setting changes the afore mentioned rules cycle accordingly.According to this structure, showing under the situation of detection image that the number of the signal that should show is corresponding with the display pixel of display part (Pixel) number, so display process correspondingly transfiguration is easy.
The invention of technical scheme 6,8 records is characterised in that above-mentioned direct impulse is the ultrasonic pulse that Xiang Shuizhong sends, and above-mentioned thing mark is the monomer fish, and above-mentioned thing mark identifying unit/step is monomer fish identifying unit/step.According to this structure, carry out detection accurately to the monomer fish in the water.
The invention effect
According to the present invention, can detect thing mark accurately as detected object.
Description of drawings
Fig. 1 is the block diagram of an embodiment of the expression hydrospace detection device that is suitable for thing mark sniffer of the present invention.
Fig. 2 is the block diagram of an embodiment of expression signal processing part shown in Figure 1.
Fig. 3 is that expression reception data of being sampled and peak-peak keep data and minimum peak to keep the part of a routine data plot of the relation of data.
Fig. 4 is the figure that is used to explain the gradient calculation method, is the partial enlarged drawing of Fig. 3.
Fig. 5 be the expression detection image display mode one the example figure.
Description of reference numerals
10 hydrospace detection devices
16 signal processing parts
18 display parts
160 control parts
161 peak values keep handling part (first, second peak value holding unit)
1611 peak-peak maintaining parts (the first peak value holding unit)
1612 minimum peak maintaining parts (the second peak value holding unit)
162 monomer fish one-time detection handling parts (monomer fish identifying unit)
1621 rise detection handling parts (part of monomer fish identifying unit)
1622 descend detects handling part (part of monomer fish identifying unit)
163 monomer fish secondary detection handling parts
164 fish bodies metering handling part
165 display process portions
Embodiment
Fig. 1 is the block diagram of an embodiment of the expression hydrospace detection device that is suitable for thing mark sniffer of the present invention.Hydrospace detection device 10 possesses the probe 11 that is equipped on hull bottom etc. and disposes the ultrasonic oscillator of or specified quantity.Probe (ultrasonic sensor) 11 constitutes and sends following ultrasonic beam, this ultrasonic beam be hyperacoustic sending direction the lower direction of regulation, preferably under possess the ultrasonic beam of the for example several °～narrow directive property of about 10 ° (degree).Send loop 12 and generate drive signals, this drive signal has the pulsewidth of the regulation that is used to encourage the ultrasonic oscillator that constitutes probe 11.In addition, in probe 11 modes that constitute by a plurality of ultrasonic oscillators, as long as to the pumping signal weighting of each ultrasonic oscillator or implement the sensing width that phase control obtains expecting.Transmit/receive switch 13 will pop one's head in 11 from the drive signal guiding that sends it back road 12, and the signal guide receiving loop 14 that will be received by probe 11 after will just sending.
Receiving loop 14 is for being received by probe 11, being returned the loop that the reception signal that comes carries out TVG processing and amplifying and Filtering Processing by thing mark reflection in the water; Said TVG processing and amplifying is the processing that compensates the hyperacoustic attenuation by absorption that takes place along with water transmission, and said Filtering Processing is the processing with the useless noise signal blocker in the signal.14 pairs of receiving loops have carried out TVG processing and amplifying and Filtering Processing and the signal that obtains implements that detection is handled and output.AD transducer 15 is for the reception signal after the detection of receiving loop 14 output, is transformed to digital receiving data with sampling period (with frequency, tens KHz～100 KHz, for example 100KHz) of regulation.
The processing that the reception data that 16 pairs of samplings of signal processing part obtain put rules into practice.Here, predetermined process is meant that peak value keeps processing, monomer fish juggling, fish body metering processing and display process etc., states after the detailed content.
On the picture 181 of display part 18, carry out the demonstration of detection image by signal processing part 16.Fig. 5 be the expression detection image display mode one the example figure.In picture 181, vertically (high direction) goes up the set depth direction, and laterally (cross direction) gone up and set detection times (time orientation).1 detection image is depicted on 1 line (line) that for example is made up of 1 row pixel longitudinally of narrower width with regulation.Under the situation that can show black white image, receive signal and be transformed to the corresponding brightness of receiving intensity and show, in addition, under can the situation of color display, receive signal and be transformed to the corresponding color of receiving intensity and show.In the picture 181, when sending ultrasound wave transmission pulse, along time orientation (left of Fig. 5) rolling 1 line, up-to-date detection image is depicted in 1 line of right-hand member at every turn.In picture 181, shown that seabed image S1, monomer fish diagram are as the unwanted picture S3 of S2, interference wave etc. and other.
Fig. 2 is the block diagram of an embodiment of expression signal processing part 16 shown in Figure 1.Signal processing part 16 possesses control part 160 that is made up of microcomputer etc. and ROM16a and the RAM16b that is connected with control part 160.ROM16a stores the operation program that is used for signal Processing, the predetermined data that is used for signal Processing or parameter class etc.RAM16b temporarily preserves the data in the processing procedure.RAM16b possesses the 160b of video-ram portion, and the 160b of this video-ram portion has the corresponding memory capacity of number with the pixel of the picture 181 that constitutes display part 18.
Peak value keeps handling part 161 to possess: peak-peak maintaining part 1611, the maximal value (Max) in extracting during this period by cycle of regulation (below be called the peak value hold period); And minimum peak maintaining part 1612, by above-mentioned peak value hold period, extract interior during this period minimum value (Min).In this embodiment, it is the reception data of utilizing by 15 samplings of AD transducer that peak value keeps handling, the processing of the data that the monomer fish of stating after generation is used for is judged.
The sampling period that the peak value hold period is set in the AD transducer 15 is identical or longer, can consider the whole bag of tricks as its establishing method, but in this embodiment, with change accordingly such as detection range.More specifically; The peak value hold period is a benchmark with the for example the shortest detection range of setting in the hydrospace detection device 10; For example be set at respect to this benchmark at detection range under 2 times the situation; 1 pairing unit distance of pixel longitudinally of the picture 181 of display part 18 becomes 2 times, the result, and the peak value hold period changes to 2 times.In this case, also can make under the shortest detection range, promptly consistent with the sampling period of AD transducer 15 as the peak value hold period of benchmark.
Peak value keeps the information of handling part 161 according to the detection range of being set by operating portion 17, sets the peak value hold period, and to the reception data from AD transducer 15, carries out carrying out the processing that the peak value maintenance is handled repeatedly with the peak value hold period of setting.More specifically; Peak-peak maintaining part 1611 is carried out following processing in the peak value hold period: will be taken into according to the order of sampling by the reception data that AD transducer 15 obtains; And to before tight be taken into data and this size that is taken into data compares; Bigger data are preserved successively, thus, can extract peak-peak data corresponding to 1 peak value hold period.The peak-peak data that per 1 peak value hold period extracts are kept among the RAM16b successively.Equally, extract the minimum peak data of per 1 peak value hold period by minimum peak maintaining part 1612, the peak-peak data of minimum peak data of extracting and same peak value holding position are mapped to be kept among the RAM16b successively.
Fig. 3 is that the reception data that obtain of expression sampling and peak-peak keep data and minimum peak to keep the part of a routine data plot of the relation of data.In Fig. 3, longitudinal axis expression signal intensity, transverse axis is represented depth direction (count value of the sampling that AD transducer 15 carries out).Point (dot) value of transverse axis is the count value of the sampling number of expression AD transducer 15, is the data of count value " 2200 " to " 2500 " in Fig. 3.
For example, be when velocity of sound is 1500m/s in 100KHz, the water in the SF of establishing AD transducer 15, the detection range of every " 1 " individual count value is " 0.75cm ".So, be equivalent to " 16.5m " to " 18.75m " with the corresponding detection range of count value " 2200 " to " 2500 " shown in Figure 3.
In addition; Signal S0 shown in Figure 3 representes the reception data that obtained by AD transducer 15 sampling; Signal Smax representes to keep data by the peak-peak that peak-peak maintaining part 1611 is extracted, and signal Smin representes to keep data by the minimum peak that minimum peak maintaining part 1612 is extracted.In this example, to per 8 count values of transverse axis (depth direction), be per 8 sampled datas, set 1 peak-peak and keep data (minimum peak keep data also identical).Therefore, under detection range shown in Figure 3, keep handling through peak value, receive data and screened (thin-out), the result receives only 1/8 of data and is held.
Then, the detection to the monomer fish describes.The monomer fish detects to handle by monomer fish one-time detection handling part 162 and monomer fish secondary detection handling part 163 and is undertaken.Monomer fish one-time detection handling part 162 keeps the candidate of Data Detection monomer fish according to peak value.Monomer fish one-time detection handling part 162 possesses rise detection handling part 1621 that the rising to the monomer fish detects and the decline that the decline of monomer fish detects is detected handling part 1622.
Rise detection handling part 1621 utilizes and keeps handling the peak-peak that obtains through peak value and keep data and minimum peak to keep data, calculates the rising of reception data, and will calculate the result and threshold value compares, thereby takes a decision as to whether monomer fish candidate.More specifically; The minimum peak of calculating in certain peak value holding position (being made as the first peak value holding position) keeps data and the interior peak-peak in the second peak value holding position (for example adjacent with first peak value holding position peak value holding position) that is equivalent to than this dark prescribed depth side in first peak value holding position to keep the difference of data, and calculates the gradient corresponding with depth direction.Then, the size of the gradient of calculating is judged that the size with threshold value compares with rising, surpass under the situation of judgement that rise, be judged to be the rising of monomer fish with the size of threshold value in the size of the gradient of calculating.
Rise detection handling part 1621 is the moment of first peak value holding position (superficial part) to carry out said gradient repeatedly to depth direction successively to calculate processing since the first peak value holding position, detects rising signals and the position thereof of the monomer fish that satisfies condition.In addition; Rise in order to detect more accurately; Rise detection handling part 1621 not only can utilize the gradient of first, second peak value holding position situation adjacent one another are, can be following mode also: adopt the be separated by such gradient of offing normal mutually and putting to hope of situation of the situation of a peak value holding position, two the peak value holding positions that are separated by of first, second peak value holding position.Rise to judge with threshold value as long as come to prepare respectively according to several peak values holding position that is separated by, first, second peak value holding position.
Descend to detect handling part 1622 and utilize and keep handling the peak-peak that obtains through peak value and keep data and minimum peak to keep data, calculate the decline of reception data, and will calculate the result and threshold value compares, thereby take a decision as to whether monomer fish candidate.More specifically; Calculate the difference of peak-peak retention value and the minimum peak retention value that is equivalent to the second peak value holding position (for example adjacent peak value holding position) in certain peak value holding position (being made as the first peak value holding position), and calculate the gradient corresponding with depth direction with the first peak value holding position than this dark prescribed depth side in first peak value holding position.Then, the size of the gradient of calculating is judged that with descending the size with threshold value compares, surpass under the situation of judgement that descend, be judged to be the decline of monomer fish with the size of threshold value in the size of the gradient of calculating.
The moment that descend to detect handling part 1622 and since the first peak value holding position be first peak value holding position (superficial part) carries out above-mentioned gradient repeatedly to depth direction successively and calculates processing, detects dropping signal and the position thereof of the monomer fish that satisfies condition.In addition; Descend in order to detect more accurately; Descend detecting the gradient that handling part 1622 not only can utilize the adjacent situation in first, second peak value holding position, can also be following mode: adopt the be separated by such gradient of offing normal mutually and putting to hope of situation of the situation of a peak value holding position, two the peak value holding positions that are separated by of first, second peak value holding position.Descend to judge with threshold value as long as come to prepare respectively according to several peak values holding position that is separated by, first, second peak value holding position.
Set when being used to calculate first, second peak value holding position of gradient, monomer fish one-time detection handling part 162 makes rise detection handling part 1621 detect handling part 1622 execution concurrently simultaneously with descending, and detects rising and the decline of monomer fish at every turn.
Fig. 4 is the figure that is used to explain the gradient calculation method, is the partial enlarged drawing of Fig. 3.Transverse axis is equivalent to sampling location D1～D2 of Fig. 3.Fig. 4 illustrates the adjacent situation in first, second peak value holding position.Promptly; When calculating the rising gradient; Calculate following difference; This differential representation with respect to the minimum peak of peak value holding position i keep data, the peak-peak of adjacent peak value holding position (i+1) keeps data what have increased on depth direction, then, utilizes the alternate position spike of this difference calculated and depth direction to calculate gradient.The alternate position spike of depth direction here is 1{=(i+1)-i}.
In addition; Judge that in the rising of the situation of adjacent position using threshold setting is 15 (dB: under situation decibel); According to Fig. 4, difference is the about 50dB of about 35dB{=(peak-peak of position (i+1) keeps data)-Yue 15dB (minimum peak of position i keeps data) }, be judged to be monomer fish candidate.
In addition; When calculating downward gradient; The peak-peak of calculating with respect to peak value holding position i ' keeps data; The minimum peak of adjacent peak value holding position on depth direction (i '+1) keeps data to reduce what difference, then, utilizes the alternate position spike of this difference calculated and depth direction to calculate gradient.The alternate position spike of depth direction here is 1{=(i '+1)-i ' }.
In addition; In that being judged, the decline of the situation of adjacent position uses under the situation of threshold setting as 12dB; According to Fig. 4, difference is the about 63dB of about 28dB{=(position i ' peak-peak keep data)-Yue 35dB (minimum peak of position (i '+1) keeps data) }, be judged to be monomer fish candidate.Peak value holding position i according to 1,2,3 ... Order set successively, become the peak value holding position that is equivalent to detection range at last.
In addition; In the mode of the determination processing that rises concurrently at the same time and decline determination processing; With peak value holding position i and the while of rising determination processing (i+1); The peak-peak of obtaining the i from the peak value holding position keeps the difference of data minimum peak maintenance data of (i+1) to the peak value holding position, carries out the decline determination processing.In this case, in the example of Fig. 4 8dB (the about 28dB of=about 36dB-), judge less than descending and use threshold value 12dB, be judged to be the decline that is not the monomer fish.Equally; Also carrying out in the mode of rising determination processing simultaneously with the decline determination processing of peak value holding position i ' and (i '+1); In the example of Fig. 4-3dB (=about 57dB (maximal value of peak value holding position (i '+1))-Yue 60dB (minimum value of peak value holding position i ')); Use threshold value 15dB less than the judgement of rising, be judged to be the rising that is not the monomer fish.In addition, on same position, rise and descend and can and not deposit in principle, therefore also can be judged to be under monomer fish candidate's the situation, end the opposing party's processing in processing through a side.In addition,, judge other conditions of usefulness, also can when rise detection, set the restriction that minimum peak is kept the value of data, when decline detects, set the restriction that peak-peak is kept the value of data as rising, descending in order to improve accuracy of detection.At this, so-called restriction is meant that it is the value that surpasses corresponding threshold that peak value keeps data itself.
In addition; Used the gradient of situation of the peak value holding position of the peak value holding position that is separated by to calculate to handle as shown in Figure 4; As long as use the difference (the perhaps difference of i ' and the data of (i '+2)) of peak value holding position i and (i+2) data, the gradient of this situation is difference/2.
Then, the adjacent data of handling the rising be judged to be the monomer fish and decline through monomer fish one-time detection are kept among the RAM16b by each group as one group of information, i.e. a candidate's monomer fish signal successively.
Monomer fish secondary detection handling part 163 from 162 detected by monomer fish one-time detection handling part, be kept in a candidate's the RAM16b the monomer fish signal; Carry out the selected processing of monomer fish according to other conditions, possess fish height detection unit 1631, beam center detection unit 1632 and the handling part 1633 that knocks into the back.Fish height detection unit 1631 the distance of the monomer fish that is detected as a candidate from the peak value holding position of rising to the depth direction of the peak value holding position that descends surpass predefined value, for example surpass several times of being equivalent to general fish body size, for example under the situation of the distance of 3 times of degree, from the monomer fish, get rid of.In addition, through above-mentioned determination processing, result's (or effectively) makes the wideer garbage signals of width such as interference signal be not decided to be the monomer fish by erroneous judgement.
Beam center detection unit 1632 is used as required; In possessing the mode of following low frequency, carry out with probe; This low frequency is used to obtain being used for carrying out the reception signal that peak value keeps processing and monomer fish one-time detection to handle with probe; More different with transmitting-receiving than the probe 11 of the ultrasonic signal of higher-frequency, the ultrasonic signal that transmitting-receiving comparatively speaking has wide directive property (for example 20 ° of degree) at low frequency.The ultrasonic signal of high frequency and the ultrasonic signal of low frequency are for example alternately sent by each probe of correspondence, and its reflected signal alternately is received.Beam center detection unit 1632 judge the monomer fishes receiving intensity precision suitably whether.Beam center detection unit 1632 judges whether the monomer fish is positioned at the sensing scope of probe 11; More specifically, judge whether to be positioned at and receive reflected signal under the state of the substantial middle of the sending direction of 11 ultrasonic signals that send of popping one's head in, promptly judge based on reflection strength whether can calculate the size of monomer fish with high precision the monomer fish.
Beam center detection unit 1632 is calculated the ratio of one of the reception data of the same depth location that quilt that the peak value that is equivalent to monomer fish candidate that the ultrasonic signal through high frequency receives keeps data and ultrasonic signal through low frequency to receive samples (or also can be mean value); And the threshold value of ratio and regulation compared; If in the scope of regulation; Then be judged to be the monomer fish of in position detecting, if not then from the monomer fish, get rid of.The ratio not situation in the scope of regulation is meant; Wide directive property with the low-frequency ultrasonic waves signal has detected the monomer fish, on the other hand, with the narrow directive property of high-frequency ultrasonic signal survey less than; Situation about perhaps detecting from off-centring; As a result, it is less that the peak value of high frequency side keeps data to compare with situation about normally detecting, and is the situation of ratio outside proper range therefore.
Knock into the back handling part 1633 except through based on the reception of continuous transmission trigger and continuous stipulated number, for example (the same monomer fish) of the continuous existence that on same depth location, detects the monomer fish for 2 times the situation gets rid of other situation for not being the monomer fish.This be because: though also depend on the cycle (detect cycle) of sending trigger; But sensing width from the general swimming rate of fish and detect cycle, ultrasonic signal; Receiving for once single-shot only, is not monomer fish and for example be that the possibility of interference signal and other garbage signals is higher.Monomer fish secondary detection handling part 163 is deleted and the relevant data of monomer fish that are excluded from the data of the monomer fish that detected and be kept at a candidate the RAM16b by monomer fish one-time detection handling part 162.
Fish body metering handling part 164 utilizes the peak-peak by the pairing peak value of the depth location holding position of monomer fish one-time detection handling part 162 and monomer fish secondary detection handling part 163 final detected all monomer fishes to keep data, calculates fish length.Fish body metering handling part 164 carries out following processing: according to the level of corresponding peak-peak maintenance data, at first calculate reflection strength TS, then according to reflection strength TS computing fish length L.Known reflection strength TS can calculate through (1) formula.
TS＝20log
10(SIG)-G+TVG-SL-Me-kD …(1)
At this, SIG is the level of the reception signal of monomer fish, and G is a receiving gain, and TVG is the variable time gain that changes according to the distance apart from target, and SL is the level that sends signal, and Me receives sound pressure sensitivity.If obtain reflection strength TS, then, calculate fish length L according to reflection strength TS shown in known (2) formula and the relational expression between the fish length L.
TS＝20logL+20logA …(2)
Here, A is the coefficient by signal frequency and fingerling decision.The coefficient A of fingerling both can unify, and also can for example utilize the required information in marine site, the degree of depth, period, water temperature and other conditions, from the storage part of having stored corresponding value (by each fingerling, perhaps by several fingerlings) in advance, read and be set to (2) formula.
Will be to through repeatedly surveying the for example maximal value decision among each fish length L that detected same monomer fish calculates to be the fish length L of this monomer fish, and be kept at the appropriate area of RAM16b.
In addition; It also can be the mode of on the depth location that the monomer fish is detected, drawing the monomer fish diagram picture of regulation; In this case; Also can further read fish length information,, perhaps change brightness or in can carrying out the colored display part 18 that shows, change demonstration look etc. according to the size of fish length information change display image.In this case, reception data or peak-peak keep data also can use the data after managing elsewhere to get final product in the demonstration not as the image that shows usefulness.
In addition, the present invention can adopt following mode.
(1) in this embodiment; Utilize 15 samplings of AD transducer and generate the reception data; And these reception data are implemented the peak value maintenance handle, but also can handle and directly carry out the peak value maintenance not via sampling based on AD transducer 15 with the required cycle related with detection range.In addition; If obtain the reception data through AD transducer 15 in advance, then can be used for other processing with receiving data, or when having switched detection range; The all integral image that contain time orientation in the picture 181 are upgraded and shown, to enable corresponding to the detection range after the switching.
(2) in this embodiment; With the length of the change peak value hold period of detection range, and make peak value keep the number corresponding with the number of the pixel of depth direction (number is consistent, and perhaps ratio is certain) of data with being in proportion; For example; If detection range becomes 2 times, then make the peak value hold period also become 2 times, so that peak value keeps the number of data corresponding with the number of the pixel of depth direction.But the peak value hold period might not be corresponding with the switching of detection range.For example, the peak value hold period is redefined for the cycle of regulation, and the peak value that utilization obtains keeps data execution peak value maintenance processing, the detection of monomer fish is handled and the fish body measures processing; On the other hand, about showing, the ratio of the number of the pixel of the number of the peak value maintenance data that display process portion 165 bases obtain and the depth direction of picture 181; Calculate and 1 peak value maintenance data number that pixel is corresponding,, then the peak value with the corresponding number of ratio is kept data if ratio is more than 1; For example make even and all be generated as the data of the demonstration usefulness corresponding with 1 pixel; Otherwise, if ratio less than 1, then gets final product same data presentation and the corresponding quantity of ratio.For example; Carrying out following processing gets final product: if peak value maintenance data number is 2 times of number of pixels; Per 2 peak value of then obtaining depth direction keeps the mean value of data, is presented on the pixel, and is opposite; If peak value maintenance data number is 1/2 times of number of pixels, then keep data presentation on 2 pixels of depth direction a peak value.
(3) in this embodiment, calculated fish length L by fish body metering handling part 164, but be not limited thereto, also can be the mode that various meterings are also carried out in the metering of not only carrying out fish length L.
(4) in this embodiment, being illustrated through receiving and dispatching the example that general ultrasonic beam carries out hydrospace detection, but the ultrasonic beam that also can adopt the applicant in TOHKEMY 2005-249398 communique, to propose.That is, as sending signal, frequency of utilization changes (chirp: FM signal linear frequency modulation), the signal of the only taking-up regulation from return signal of the relevant treatment during through reception in time.Through like this; When sending; Can make the time width (pulsewidth) that sends signal elongated and make detection range elongated, and when receiving, can take out the reception signal of short time width (pulsewidth); Therefore the resolution of echo can be improved through pulse compression, the accuracy of detection of monomer fish can be improved.More specifically, relevant treatment is typically carried out through matched filter (Matched Filter).Matched filter is for the consistent degree of the reception signal that is received by probe with reference signal; Reference signal and the phase place that receives signal are bit by bit staggered; Carry out each received signal level constantly and the long-pending and computing of baseline signal level on one side; And calculate the result according to it, extract the reception signal of the high short time width of relevant output.
(5) in this embodiment, utilize minimum peak to keep data and peak-peak to keep data to take a decision as to whether the rising and the decline thereof of the signal of expression monomer fish, but be not limited thereto; For example also can be, about a side who rises and descend, preferably about rising; As this embodiment, judge; On the other hand, about descending, adopt other decision methods, preferably than the simpler method of processing that rises in judging.Till for example keeping data whether to drop to being judged as not having the setting of signal level according to maximum (perhaps minimum) peak value, or maximum (perhaps minimum) peak value keep data whether drop to the equal level of the minimum value used in judging of rising till judge.
(6) in this embodiment, be illustrated ultrasonic pulse is used for the example that is treated to that direct impulse detects the monomer fish in the water, but the invention is not restricted to the detection of monomer fish, also go for being designated as the situation of detected object with other things in the water.In addition, also go for using radar (microwave) pulse from radar antenna radiation (transmissions), detect the situation of the boats and ships etc. at sea as direct impulse.
Claims (8)
1. a thing mark sniffer outwards sends direct impulse, according to returning next reception signal, carries out the thing target and detects, and it is characterized in that possessing:
The first peak value holding unit for above-mentioned reception signal, by every specified period, extracts the maximal value in this cycle;
The second peak value holding unit for above-mentioned reception signal, by every afore mentioned rules cycle, extracts the minimum value in this cycle; And
Thing mark identifying unit is utilized in the above-mentioned minimum value and the gradient between the above-mentioned maximal value extracted on the mutual different peak value holding position, judges rising and the decline thereof of representing above-mentioned thing target signal.
2. like the thing mark sniffer of claim 1 record, it is characterized in that,
Above-mentioned thing mark identifying unit is calculated above-mentioned gradient according to the minimum value and the maximal value of the peak value holding position of the predefined one or more afore mentioned rules periodic quantities of phase mutual edge distance.
3. like the thing mark sniffer of claim 1 or 2 records, it is characterized in that,
Above-mentioned thing mark identifying unit will be used to obtain the judging and compare with threshold value from minimum value to peaked difference with rising of gradient of above-mentioned rising, surpass above-mentioned rising in above-mentioned difference and judge under the situation with threshold value, be judged to be the rising of representing thing target signal.
4. like the thing mark sniffer of each record in the claim 1～3, it is characterized in that,
Above-mentioned thing mark identifying unit will be used to obtain the difference of maximal value and minimum value of the gradient of above-mentioned decline to be judged and compares with threshold value with descending, and surpasses above-mentioned decline in above-mentioned difference and judges under the situation with threshold value, is judged to be the decline of representing thing target signal.
5. like the thing mark sniffer of each record in the claim 1～4, it is characterized in that,
The detection range of the above-mentioned first peak value holding unit, the second peak value holding unit and setting changes the afore mentioned rules cycle accordingly.
6. like the thing mark sniffer of each record in the claim 1～5, it is characterized in that,
Above-mentioned direct impulse is the ultrasonic pulse that Xiang Shuizhong sends, and above-mentioned thing mark is the monomer fish, and above-mentioned thing mark identifying unit is a monomer fish identifying unit.
7. a thing mark detection method outwards sends direct impulse, according to returning next reception signal, carries out the thing target and detects, and it is characterized in that, comprising:
First peak value keeps step, for above-mentioned reception signal, by every specified period, extracts the maximal value in this cycle;
Second peak value keeps step, for above-mentioned reception signal, by every afore mentioned rules cycle, extracts the minimum value in this cycle; And
Thing mark determination step is utilized in the above-mentioned minimum value and the gradient between the above-mentioned maximal value extracted on the mutual different peak value holding position, judges rising and the decline thereof of representing above-mentioned thing target signal.
8. like the thing mark detection method of claim 7 record, it is characterized in that,
Above-mentioned direct impulse is the ultrasonic pulse that Xiang Shuizhong sends, and above-mentioned thing mark is the monomer fish, and above-mentioned thing mark determination step is a monomer fish determination step.
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| JP2010271075A JP5778414B2 (en) | 2010-12-06 | 2010-12-06 | Target detection apparatus and target detection method |
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Also Published As
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| JP2012122735A (en) | 2012-06-28 |
| JP5778414B2 (en) | 2015-09-16 |
| US20120140596A1 (en) | 2012-06-07 |
| CN102540192B (en) | 2015-10-07 |
| US9182488B2 (en) | 2015-11-10 |
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